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   <div id="projectbrief">A visual-inertial calibration library designed for rapid problem construction and debugging.</div>
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<div class="title">gyroscope.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="preprocessor">#ifndef CALICO_SENSORS_GYROSCOPE_H_</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="preprocessor">#define CALICO_SENSORS_GYROSCOPE_H_</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160; </div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="preprocessor">#include &lt;string&gt;</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="preprocessor">#include &lt;vector&gt;</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160; </div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="preprocessor">#include &quot;absl/container/flat_hash_map.h&quot;</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="preprocessor">#include &quot;absl/status/status.h&quot;</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="preprocessor">#include &quot;absl/strings/string_view.h&quot;</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="preprocessor">#include &quot;calico/sensors/sensor_base.h&quot;</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="preprocessor">#include &quot;calico/sensors/gyroscope_models.h&quot;</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="preprocessor">#include &quot;calico/trajectory.h&quot;</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="preprocessor">#include &quot;calico/typedefs.h&quot;</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="preprocessor">#include &quot;ceres/problem.h&quot;</span></div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="preprocessor">#include &quot;Eigen/Dense&quot;</span></div>
<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160; </div>
<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160; </div>
<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="keyword">namespace </span><a class="code" href="namespacecalico_1_1sensors.html">calico::sensors</a> {</div>
<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160; </div>
<div class="line"><a name="l00023"></a><span class="lineno"><a class="line" href="structcalico_1_1sensors_1_1GyroscopeObservationId.html">   23</a></span>&#160;<span class="keyword">struct </span><a class="code" href="structcalico_1_1sensors_1_1GyroscopeObservationId.html">GyroscopeObservationId</a> {</div>
<div class="line"><a name="l00025"></a><span class="lineno"><a class="line" href="structcalico_1_1sensors_1_1GyroscopeObservationId.html#a1e84f6ea65541adaba76ef089a1507ba">   25</a></span>&#160;  <span class="keywordtype">double</span> <a class="code" href="structcalico_1_1sensors_1_1GyroscopeObservationId.html#a1e84f6ea65541adaba76ef089a1507ba">stamp</a>;</div>
<div class="line"><a name="l00027"></a><span class="lineno"><a class="line" href="structcalico_1_1sensors_1_1GyroscopeObservationId.html#a94e90d11f2267330fbe8d9710c9b2484">   27</a></span>&#160;  <span class="keywordtype">int</span> <a class="code" href="structcalico_1_1sensors_1_1GyroscopeObservationId.html#a94e90d11f2267330fbe8d9710c9b2484">sequence</a>;</div>
<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160; </div>
<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> H&gt;</div>
<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;  <span class="keyword">friend</span> H AbslHashValue(H h, <span class="keyword">const</span> <a class="code" href="structcalico_1_1sensors_1_1GyroscopeObservationId.html">GyroscopeObservationId</a>&amp; <span class="keywordtype">id</span>) {</div>
<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;    <span class="keywordflow">return</span> H::combine(std::move(h), <span class="keywordtype">id</span>.<a class="code" href="structcalico_1_1sensors_1_1GyroscopeObservationId.html#a1e84f6ea65541adaba76ef089a1507ba">stamp</a>, <span class="keywordtype">id</span>.<a class="code" href="structcalico_1_1sensors_1_1GyroscopeObservationId.html#a94e90d11f2267330fbe8d9710c9b2484">sequence</a>);</div>
<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;  }</div>
<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;  <span class="keyword">friend</span> <span class="keywordtype">bool</span> operator==(<span class="keyword">const</span> <a class="code" href="structcalico_1_1sensors_1_1GyroscopeObservationId.html">GyroscopeObservationId</a>&amp; lhs,</div>
<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;                         <span class="keyword">const</span> <a class="code" href="structcalico_1_1sensors_1_1GyroscopeObservationId.html">GyroscopeObservationId</a>&amp; rhs) {</div>
<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;    <span class="keywordflow">return</span> (lhs.<a class="code" href="structcalico_1_1sensors_1_1GyroscopeObservationId.html#a1e84f6ea65541adaba76ef089a1507ba">stamp</a> == rhs.<a class="code" href="structcalico_1_1sensors_1_1GyroscopeObservationId.html#a1e84f6ea65541adaba76ef089a1507ba">stamp</a> &amp;&amp;</div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;            lhs.<a class="code" href="structcalico_1_1sensors_1_1GyroscopeObservationId.html#a94e90d11f2267330fbe8d9710c9b2484">sequence</a> == rhs.<a class="code" href="structcalico_1_1sensors_1_1GyroscopeObservationId.html#a94e90d11f2267330fbe8d9710c9b2484">sequence</a>);</div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;  }</div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;};</div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160; </div>
<div class="line"><a name="l00041"></a><span class="lineno"><a class="line" href="structcalico_1_1sensors_1_1GyroscopeMeasurement.html">   41</a></span>&#160;<span class="keyword">struct </span><a class="code" href="structcalico_1_1sensors_1_1GyroscopeMeasurement.html">GyroscopeMeasurement</a> {</div>
<div class="line"><a name="l00043"></a><span class="lineno"><a class="line" href="structcalico_1_1sensors_1_1GyroscopeMeasurement.html#a3483c6c9621ab18676803b22303e3d5f">   43</a></span>&#160;  Eigen::Vector3d <a class="code" href="structcalico_1_1sensors_1_1GyroscopeMeasurement.html#a3483c6c9621ab18676803b22303e3d5f">measurement</a>;</div>
<div class="line"><a name="l00045"></a><span class="lineno"><a class="line" href="structcalico_1_1sensors_1_1GyroscopeMeasurement.html#a0749af3895870c5350e44b4e11b357a6">   45</a></span>&#160;  <a class="code" href="structcalico_1_1sensors_1_1GyroscopeObservationId.html">GyroscopeObservationId</a> <a class="code" href="structcalico_1_1sensors_1_1GyroscopeMeasurement.html#a0749af3895870c5350e44b4e11b357a6">id</a>;</div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;};</div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160; </div>
<div class="line"><a name="l00049"></a><span class="lineno"><a class="line" href="classcalico_1_1sensors_1_1Gyroscope.html">   49</a></span>&#160;<span class="keyword">class </span><a class="code" href="classcalico_1_1sensors_1_1Gyroscope.html">Gyroscope</a> : <span class="keyword">public</span> <a class="code" href="classcalico_1_1sensors_1_1Sensor.html">Sensor</a> {</div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160; <span class="keyword">public</span>:</div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;  <span class="keyword">explicit</span> <a class="code" href="classcalico_1_1sensors_1_1Gyroscope.html">Gyroscope</a>() = <span class="keywordflow">default</span>;</div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;  <a class="code" href="classcalico_1_1sensors_1_1Gyroscope.html">Gyroscope</a>(<span class="keyword">const</span> <a class="code" href="classcalico_1_1sensors_1_1Gyroscope.html">Gyroscope</a>&amp;) = <span class="keyword">delete</span>;</div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;  <a class="code" href="classcalico_1_1sensors_1_1Gyroscope.html">Gyroscope</a>&amp; operator=(<span class="keyword">const</span> <a class="code" href="classcalico_1_1sensors_1_1Gyroscope.html">Gyroscope</a>&amp;) = <span class="keyword">delete</span>;</div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;  ~<a class="code" href="classcalico_1_1sensors_1_1Gyroscope.html">Gyroscope</a>() = <span class="keywordflow">default</span>;</div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160; </div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;  <span class="keywordtype">void</span> <a class="code" href="classcalico_1_1sensors_1_1Gyroscope.html#a0936780f8dd332a68fc39a635946ac6f">SetName</a>(<span class="keyword">const</span> std::string&amp; name) <span class="keyword">final</span>;</div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;  <span class="keyword">const</span> std::string&amp; <a class="code" href="classcalico_1_1sensors_1_1Gyroscope.html#aa5baf7ee1792ffed10700eb086aa72ea">GetName</a>() <span class="keyword">const</span> <span class="keyword">final</span>;</div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;  <span class="keywordtype">void</span> <a class="code" href="classcalico_1_1sensors_1_1Gyroscope.html#ac4272e2b8bdf676b90745b6686a6bf6d">SetExtrinsics</a>(<span class="keyword">const</span> <a class="code" href="classcalico_1_1Pose3.html">Pose3d</a>&amp; T_sensorrig_sensor) <span class="keyword">final</span>;</div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;  <span class="keyword">const</span> <a class="code" href="classcalico_1_1Pose3.html">Pose3d</a>&amp; <a class="code" href="classcalico_1_1sensors_1_1Gyroscope.html#a3b18fda78750185d59a2ccdac0dafbf5">GetExtrinsics</a>() <span class="keyword">const</span> <span class="keyword">final</span>;</div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;  absl::Status <a class="code" href="classcalico_1_1sensors_1_1Gyroscope.html#a0470967c208e0d75874d76ea34c79611">SetIntrinsics</a>(<span class="keyword">const</span> Eigen::VectorXd&amp; intrinsics) <span class="keyword">final</span>;</div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;  <span class="keyword">const</span> Eigen::VectorXd&amp; <a class="code" href="classcalico_1_1sensors_1_1Gyroscope.html#af9e7dee704d8d0a5ee277b63f2d84c37">GetIntrinsics</a>() <span class="keyword">const</span> <span class="keyword">final</span>;</div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;  absl::Status <a class="code" href="classcalico_1_1sensors_1_1Gyroscope.html#ab802a02872d6a150c3253ff7ddc58f23">SetLatency</a>(<span class="keywordtype">double</span> latency) <span class="keyword">final</span>;</div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;  <span class="keywordtype">double</span> <a class="code" href="classcalico_1_1sensors_1_1Gyroscope.html#ac3d023d8a5913c381ac4a332de20fa84">GetLatency</a>() <span class="keyword">const</span> <span class="keyword">final</span>;</div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;  <span class="keywordtype">void</span> <a class="code" href="classcalico_1_1sensors_1_1Gyroscope.html#a8525637f68814536b5def979e559ad58">EnableExtrinsicsEstimation</a>(<span class="keywordtype">bool</span> enable) <span class="keyword">final</span>;</div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;  <span class="keywordtype">void</span> <a class="code" href="classcalico_1_1sensors_1_1Gyroscope.html#a909ecc1295ba326161ab68d3e319d595">EnableIntrinsicsEstimation</a>(<span class="keywordtype">bool</span> enable) <span class="keyword">final</span>;</div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;  <span class="keywordtype">void</span> <a class="code" href="classcalico_1_1sensors_1_1Gyroscope.html#a69fa454ad9f419a5fe83bff114984575">EnableLatencyEstimation</a>(<span class="keywordtype">bool</span> enable) <span class="keyword">final</span>;</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;  <span class="keywordtype">void</span> <a class="code" href="classcalico_1_1sensors_1_1Gyroscope.html#a1524b88c642d9cb5cd7f6a6ef3f6d55f">SetLossFunction</a>(<a class="code" href="namespacecalico_1_1utils.html#aacede3df540b75d2e131f113380f0ce9">utils::LossFunctionType</a> loss, <span class="keywordtype">double</span> scale) <span class="keyword">final</span>;</div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;  absl::StatusOr&lt;int&gt; <a class="code" href="classcalico_1_1sensors_1_1Gyroscope.html#ac6a5c8408e1822a1b80d71cd86893505">AddParametersToProblem</a>(ceres::Problem&amp; problem) <span class="keyword">final</span>;</div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;  absl::StatusOr&lt;int&gt; <a class="code" href="classcalico_1_1sensors_1_1Gyroscope.html#ae882341a2ea6aa26bee515ca45d5424f">AddResidualsToProblem</a>(</div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;      ceres::Problem &amp; problem,</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;      <a class="code" href="classcalico_1_1Trajectory.html">Trajectory</a>&amp; sensorrig_trajectory,</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;      <a class="code" href="classcalico_1_1WorldModel.html">WorldModel</a>&amp; world_model) <span class="keyword">final</span>;</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;  absl::Status <a class="code" href="classcalico_1_1sensors_1_1Gyroscope.html#aa9e8f2f9f740605af3230309ea1d2fb2">SetMeasurementNoise</a>(<span class="keywordtype">double</span> sigma) <span class="keyword">final</span>;</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;  absl::Status <a class="code" href="classcalico_1_1sensors_1_1Gyroscope.html#a7fa5504f378220271a8ffdfadc9e6fff">UpdateResiduals</a>(ceres::Problem&amp; problem) <span class="keyword">final</span>;</div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;  <span class="keywordtype">void</span> <a class="code" href="classcalico_1_1sensors_1_1Gyroscope.html#a141b53139c9580fb6fbe8d85e5d6e848">ClearResidualInfo</a>() <span class="keyword">final</span>;</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160; </div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160; </div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;  absl::StatusOr&lt;std::vector&lt;GyroscopeMeasurement&gt;&gt; <a class="code" href="classcalico_1_1sensors_1_1Gyroscope.html#a7362b4339e32c1cd220d0a857540dc83">Project</a>(</div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;      <span class="keyword">const</span> std::vector&lt;double&gt;&amp; interp_times,</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;      <span class="keyword">const</span> <a class="code" href="classcalico_1_1Trajectory.html">Trajectory</a>&amp; sensorrig_trajectory,</div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;      <span class="keyword">const</span> <a class="code" href="classcalico_1_1WorldModel.html">WorldModel</a>&amp; world_model) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160; </div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;  absl::Status <a class="code" href="classcalico_1_1sensors_1_1Gyroscope.html#a4cc453c576268ca4980d14e1ca33470a">SetModel</a>(<a class="code" href="namespacecalico_1_1sensors.html#a3a17fd4af1cc53c28ec7130fdad5f22d">GyroscopeIntrinsicsModel</a> gyroscope_model);</div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160; </div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;  <a class="code" href="namespacecalico_1_1sensors.html#a3a17fd4af1cc53c28ec7130fdad5f22d">GyroscopeIntrinsicsModel</a> <a class="code" href="classcalico_1_1sensors_1_1Gyroscope.html#a11a277df2880f72aa0553c1f830e0d74">GetModel</a>() <span class="keyword">const</span>;</div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160; </div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160; </div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;  absl::Status <a class="code" href="classcalico_1_1sensors_1_1Gyroscope.html#a6346239177d684b08fdb64ffd3fb06f9">AddMeasurement</a>(<span class="keyword">const</span> <a class="code" href="structcalico_1_1sensors_1_1GyroscopeMeasurement.html">GyroscopeMeasurement</a>&amp; measurement);</div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160; </div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160; </div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;  absl::Status <a class="code" href="classcalico_1_1sensors_1_1Gyroscope.html#a26ffa471fa1c2909e489eff1272acf24">AddMeasurements</a>(</div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;      <span class="keyword">const</span> std::vector&lt;GyroscopeMeasurement&gt;&amp; measurements);</div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160; </div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;  <span class="keywordtype">void</span> <a class="code" href="classcalico_1_1sensors_1_1Gyroscope.html#a17773646b4c178ad73c7e14861b79ddc">ClearMeasurements</a>();</div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160; </div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;  <span class="keywordtype">int</span> <a class="code" href="classcalico_1_1sensors_1_1Gyroscope.html#ab3e15d01c59df3fef78a1dfb740219d9">NumberOfMeasurements</a>() <span class="keyword">const</span>;</div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160; </div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160; <span class="keyword">private</span>:</div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;  std::string name_;</div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;  <span class="keywordtype">bool</span> intrinsics_enabled_;</div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;  <span class="keywordtype">bool</span> extrinsics_enabled_;</div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;  <span class="keywordtype">bool</span> latency_enabled_;</div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;  std::unique_ptr&lt;GyroscopeModel&gt; gyroscope_model_;</div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;  <a class="code" href="classcalico_1_1Pose3.html">Pose3d</a> T_sensorrig_sensor_;</div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;  Eigen::VectorXd intrinsics_;</div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;  <span class="keywordtype">double</span> latency_ = 0.0;</div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;  <span class="keywordtype">double</span> sigma_ = 1.0;</div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;  <a class="code" href="namespacecalico_1_1utils.html#aacede3df540b75d2e131f113380f0ce9">utils::LossFunctionType</a> loss_function_;</div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;  <span class="keywordtype">double</span> loss_scale_ = 1.0;</div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;  absl::flat_hash_map&lt;GyroscopeObservationId, GyroscopeMeasurement&gt;</div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;      id_to_measurement_;</div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;  absl::flat_hash_map&lt;GyroscopeObservationId, Eigen::Vector3d&gt; id_to_residual_;</div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;  absl::flat_hash_map&lt;GyroscopeObservationId, ceres::ResidualBlockId&gt;</div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;      id_to_residual_id_;</div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;};</div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160; </div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;} <span class="comment">// namespace calico::sensors</span></div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160; </div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;<span class="preprocessor">#endif </span><span class="comment">// CALICO_SENSORS_GYROSCOPE_H_</span></div>
<div class="ttc" id="aclasscalico_1_1Pose3_html"><div class="ttname"><a href="classcalico_1_1Pose3.html">calico::Pose3&lt; double &gt;</a></div></div>
<div class="ttc" id="aclasscalico_1_1Trajectory_html"><div class="ttname"><a href="classcalico_1_1Trajectory.html">calico::Trajectory</a></div><div class="ttdef"><b>Definition:</b> trajectory.h:25</div></div>
<div class="ttc" id="aclasscalico_1_1WorldModel_html"><div class="ttname"><a href="classcalico_1_1WorldModel.html">calico::WorldModel</a></div><div class="ttdef"><b>Definition:</b> world_model.h:73</div></div>
<div class="ttc" id="aclasscalico_1_1sensors_1_1Gyroscope_html"><div class="ttname"><a href="classcalico_1_1sensors_1_1Gyroscope.html">calico::sensors::Gyroscope</a></div><div class="ttdoc">Gyroscope class.</div><div class="ttdef"><b>Definition:</b> gyroscope.h:49</div></div>
<div class="ttc" id="aclasscalico_1_1sensors_1_1Gyroscope_html_a0470967c208e0d75874d76ea34c79611"><div class="ttname"><a href="classcalico_1_1sensors_1_1Gyroscope.html#a0470967c208e0d75874d76ea34c79611">calico::sensors::Gyroscope::SetIntrinsics</a></div><div class="ttdeci">absl::Status SetIntrinsics(const Eigen::VectorXd &amp;intrinsics) final</div><div class="ttdoc">Setter for intrinsics parameters.</div><div class="ttdef"><b>Definition:</b> gyroscope.cpp:106</div></div>
<div class="ttc" id="aclasscalico_1_1sensors_1_1Gyroscope_html_a0936780f8dd332a68fc39a635946ac6f"><div class="ttname"><a href="classcalico_1_1sensors_1_1Gyroscope.html#a0936780f8dd332a68fc39a635946ac6f">calico::sensors::Gyroscope::SetName</a></div><div class="ttdeci">void SetName(const std::string &amp;name) final</div><div class="ttdoc">Setter for name.</div><div class="ttdef"><b>Definition:</b> gyroscope.cpp:93</div></div>
<div class="ttc" id="aclasscalico_1_1sensors_1_1Gyroscope_html_a11a277df2880f72aa0553c1f830e0d74"><div class="ttname"><a href="classcalico_1_1sensors_1_1Gyroscope.html#a11a277df2880f72aa0553c1f830e0d74">calico::sensors::Gyroscope::GetModel</a></div><div class="ttdeci">GyroscopeIntrinsicsModel GetModel() const</div><div class="ttdoc">Getter for gyroscope model.</div><div class="ttdef"><b>Definition:</b> gyroscope.cpp:166</div></div>
<div class="ttc" id="aclasscalico_1_1sensors_1_1Gyroscope_html_a141b53139c9580fb6fbe8d85e5d6e848"><div class="ttname"><a href="classcalico_1_1sensors_1_1Gyroscope.html#a141b53139c9580fb6fbe8d85e5d6e848">calico::sensors::Gyroscope::ClearResidualInfo</a></div><div class="ttdeci">void ClearResidualInfo() final</div><div class="ttdoc">Clear all stored info about residuals.</div><div class="ttdef"><b>Definition:</b> gyroscope.cpp:150</div></div>
<div class="ttc" id="aclasscalico_1_1sensors_1_1Gyroscope_html_a1524b88c642d9cb5cd7f6a6ef3f6d55f"><div class="ttname"><a href="classcalico_1_1sensors_1_1Gyroscope.html#a1524b88c642d9cb5cd7f6a6ef3f6d55f">calico::sensors::Gyroscope::SetLossFunction</a></div><div class="ttdeci">void SetLossFunction(utils::LossFunctionType loss, double scale) final</div><div class="ttdoc">Setter for loss function and scale.</div><div class="ttdef"><b>Definition:</b> gyroscope.cpp:145</div></div>
<div class="ttc" id="aclasscalico_1_1sensors_1_1Gyroscope_html_a17773646b4c178ad73c7e14861b79ddc"><div class="ttname"><a href="classcalico_1_1sensors_1_1Gyroscope.html#a17773646b4c178ad73c7e14861b79ddc">calico::sensors::Gyroscope::ClearMeasurements</a></div><div class="ttdeci">void ClearMeasurements()</div><div class="ttdoc">Clear all measurements.</div><div class="ttdef"><b>Definition:</b> gyroscope.cpp:210</div></div>
<div class="ttc" id="aclasscalico_1_1sensors_1_1Gyroscope_html_a26ffa471fa1c2909e489eff1272acf24"><div class="ttname"><a href="classcalico_1_1sensors_1_1Gyroscope.html#a26ffa471fa1c2909e489eff1272acf24">calico::sensors::Gyroscope::AddMeasurements</a></div><div class="ttdeci">absl::Status AddMeasurements(const std::vector&lt; GyroscopeMeasurement &gt; &amp;measurements)</div><div class="ttdoc">Add multiple measurements to the measurement list.</div><div class="ttdef"><b>Definition:</b> gyroscope.cpp:195</div></div>
<div class="ttc" id="aclasscalico_1_1sensors_1_1Gyroscope_html_a3b18fda78750185d59a2ccdac0dafbf5"><div class="ttname"><a href="classcalico_1_1sensors_1_1Gyroscope.html#a3b18fda78750185d59a2ccdac0dafbf5">calico::sensors::Gyroscope::GetExtrinsics</a></div><div class="ttdeci">const Pose3d &amp; GetExtrinsics() const final</div><div class="ttdoc">Getter for extrinsics parameters.</div><div class="ttdef"><b>Definition:</b> gyroscope.cpp:102</div></div>
<div class="ttc" id="aclasscalico_1_1sensors_1_1Gyroscope_html_a4cc453c576268ca4980d14e1ca33470a"><div class="ttname"><a href="classcalico_1_1sensors_1_1Gyroscope.html#a4cc453c576268ca4980d14e1ca33470a">calico::sensors::Gyroscope::SetModel</a></div><div class="ttdeci">absl::Status SetModel(GyroscopeIntrinsicsModel gyroscope_model)</div><div class="ttdoc">Setter for gyroscope model.</div><div class="ttdef"><b>Definition:</b> gyroscope.cpp:155</div></div>
<div class="ttc" id="aclasscalico_1_1sensors_1_1Gyroscope_html_a6346239177d684b08fdb64ffd3fb06f9"><div class="ttname"><a href="classcalico_1_1sensors_1_1Gyroscope.html#a6346239177d684b08fdb64ffd3fb06f9">calico::sensors::Gyroscope::AddMeasurement</a></div><div class="ttdeci">absl::Status AddMeasurement(const GyroscopeMeasurement &amp;measurement)</div><div class="ttdoc">Add a gyroscope measurement to the measurement list.</div><div class="ttdef"><b>Definition:</b> gyroscope.cpp:184</div></div>
<div class="ttc" id="aclasscalico_1_1sensors_1_1Gyroscope_html_a69fa454ad9f419a5fe83bff114984575"><div class="ttname"><a href="classcalico_1_1sensors_1_1Gyroscope.html#a69fa454ad9f419a5fe83bff114984575">calico::sensors::Gyroscope::EnableLatencyEstimation</a></div><div class="ttdeci">void EnableLatencyEstimation(bool enable) final</div><div class="ttdoc">Enable or disable latency estimation.</div><div class="ttdef"><b>Definition:</b> gyroscope.cpp:133</div></div>
<div class="ttc" id="aclasscalico_1_1sensors_1_1Gyroscope_html_a7362b4339e32c1cd220d0a857540dc83"><div class="ttname"><a href="classcalico_1_1sensors_1_1Gyroscope.html#a7362b4339e32c1cd220d0a857540dc83">calico::sensors::Gyroscope::Project</a></div><div class="ttdeci">absl::StatusOr&lt; std::vector&lt; GyroscopeMeasurement &gt; &gt; Project(const std::vector&lt; double &gt; &amp;interp_times, const Trajectory &amp;sensorrig_trajectory, const WorldModel &amp;world_model) const</div><div class="ttdoc">Compute synthetic gyroscope measurements at given a sensorrig trajectory.</div><div class="ttdef"><b>Definition:</b> gyroscope.cpp:56</div></div>
<div class="ttc" id="aclasscalico_1_1sensors_1_1Gyroscope_html_a7fa5504f378220271a8ffdfadc9e6fff"><div class="ttname"><a href="classcalico_1_1sensors_1_1Gyroscope.html#a7fa5504f378220271a8ffdfadc9e6fff">calico::sensors::Gyroscope::UpdateResiduals</a></div><div class="ttdeci">absl::Status UpdateResiduals(ceres::Problem &amp;problem) final</div><div class="ttdoc">Update residuals for this sensor.</div><div class="ttdef"><b>Definition:</b> gyroscope.cpp:171</div></div>
<div class="ttc" id="aclasscalico_1_1sensors_1_1Gyroscope_html_a8525637f68814536b5def979e559ad58"><div class="ttname"><a href="classcalico_1_1sensors_1_1Gyroscope.html#a8525637f68814536b5def979e559ad58">calico::sensors::Gyroscope::EnableExtrinsicsEstimation</a></div><div class="ttdeci">void EnableExtrinsicsEstimation(bool enable) final</div><div class="ttdoc">Enable or disable extrinsics estimation.</div><div class="ttdef"><b>Definition:</b> gyroscope.cpp:125</div></div>
<div class="ttc" id="aclasscalico_1_1sensors_1_1Gyroscope_html_a909ecc1295ba326161ab68d3e319d595"><div class="ttname"><a href="classcalico_1_1sensors_1_1Gyroscope.html#a909ecc1295ba326161ab68d3e319d595">calico::sensors::Gyroscope::EnableIntrinsicsEstimation</a></div><div class="ttdeci">void EnableIntrinsicsEstimation(bool enable) final</div><div class="ttdoc">Enable or disable intrinsics estimation.</div><div class="ttdef"><b>Definition:</b> gyroscope.cpp:129</div></div>
<div class="ttc" id="aclasscalico_1_1sensors_1_1Gyroscope_html_aa5baf7ee1792ffed10700eb086aa72ea"><div class="ttname"><a href="classcalico_1_1sensors_1_1Gyroscope.html#aa5baf7ee1792ffed10700eb086aa72ea">calico::sensors::Gyroscope::GetName</a></div><div class="ttdeci">const std::string &amp; GetName() const final</div><div class="ttdoc">Getter for name.</div><div class="ttdef"><b>Definition:</b> gyroscope.cpp:96</div></div>
<div class="ttc" id="aclasscalico_1_1sensors_1_1Gyroscope_html_aa9e8f2f9f740605af3230309ea1d2fb2"><div class="ttname"><a href="classcalico_1_1sensors_1_1Gyroscope.html#aa9e8f2f9f740605af3230309ea1d2fb2">calico::sensors::Gyroscope::SetMeasurementNoise</a></div><div class="ttdeci">absl::Status SetMeasurementNoise(double sigma) final</div><div class="ttdoc">Set the measurement noise .</div><div class="ttdef"><b>Definition:</b> gyroscope.cpp:137</div></div>
<div class="ttc" id="aclasscalico_1_1sensors_1_1Gyroscope_html_ab3e15d01c59df3fef78a1dfb740219d9"><div class="ttname"><a href="classcalico_1_1sensors_1_1Gyroscope.html#ab3e15d01c59df3fef78a1dfb740219d9">calico::sensors::Gyroscope::NumberOfMeasurements</a></div><div class="ttdeci">int NumberOfMeasurements() const</div><div class="ttdoc">Get current number of measurements stored.</div><div class="ttdef"><b>Definition:</b> gyroscope.cpp:214</div></div>
<div class="ttc" id="aclasscalico_1_1sensors_1_1Gyroscope_html_ab802a02872d6a150c3253ff7ddc58f23"><div class="ttname"><a href="classcalico_1_1sensors_1_1Gyroscope.html#ab802a02872d6a150c3253ff7ddc58f23">calico::sensors::Gyroscope::SetLatency</a></div><div class="ttdeci">absl::Status SetLatency(double latency) final</div><div class="ttdoc">Setter for sensor latency.</div><div class="ttdef"><b>Definition:</b> gyroscope.cpp:84</div></div>
<div class="ttc" id="aclasscalico_1_1sensors_1_1Gyroscope_html_ac3d023d8a5913c381ac4a332de20fa84"><div class="ttname"><a href="classcalico_1_1sensors_1_1Gyroscope.html#ac3d023d8a5913c381ac4a332de20fa84">calico::sensors::Gyroscope::GetLatency</a></div><div class="ttdeci">double GetLatency() const final</div><div class="ttdoc">Getter for sensor latency.</div><div class="ttdef"><b>Definition:</b> gyroscope.cpp:89</div></div>
<div class="ttc" id="aclasscalico_1_1sensors_1_1Gyroscope_html_ac4272e2b8bdf676b90745b6686a6bf6d"><div class="ttname"><a href="classcalico_1_1sensors_1_1Gyroscope.html#ac4272e2b8bdf676b90745b6686a6bf6d">calico::sensors::Gyroscope::SetExtrinsics</a></div><div class="ttdeci">void SetExtrinsics(const Pose3d &amp;T_sensorrig_sensor) final</div><div class="ttdoc">Setter for extrinsics parameters.</div><div class="ttdef"><b>Definition:</b> gyroscope.cpp:98</div></div>
<div class="ttc" id="aclasscalico_1_1sensors_1_1Gyroscope_html_ac6a5c8408e1822a1b80d71cd86893505"><div class="ttname"><a href="classcalico_1_1sensors_1_1Gyroscope.html#ac6a5c8408e1822a1b80d71cd86893505">calico::sensors::Gyroscope::AddParametersToProblem</a></div><div class="ttdeci">absl::StatusOr&lt; int &gt; AddParametersToProblem(ceres::Problem &amp;problem) final</div><div class="ttdoc">Add this sensor's calibration parameters to the ceres problem.</div><div class="ttdef"><b>Definition:</b> gyroscope.cpp:10</div></div>
<div class="ttc" id="aclasscalico_1_1sensors_1_1Gyroscope_html_ae882341a2ea6aa26bee515ca45d5424f"><div class="ttname"><a href="classcalico_1_1sensors_1_1Gyroscope.html#ae882341a2ea6aa26bee515ca45d5424f">calico::sensors::Gyroscope::AddResidualsToProblem</a></div><div class="ttdeci">absl::StatusOr&lt; int &gt; AddResidualsToProblem(ceres::Problem &amp;problem, Trajectory &amp;sensorrig_trajectory, WorldModel &amp;world_model) final</div><div class="ttdoc">Contribue this sensor's residuals to the ceres problem.</div><div class="ttdef"><b>Definition:</b> gyroscope.cpp:33</div></div>
<div class="ttc" id="aclasscalico_1_1sensors_1_1Gyroscope_html_af9e7dee704d8d0a5ee277b63f2d84c37"><div class="ttname"><a href="classcalico_1_1sensors_1_1Gyroscope.html#af9e7dee704d8d0a5ee277b63f2d84c37">calico::sensors::Gyroscope::GetIntrinsics</a></div><div class="ttdeci">const Eigen::VectorXd &amp; GetIntrinsics() const final</div><div class="ttdoc">Getter for intrinsics parameters.</div><div class="ttdef"><b>Definition:</b> gyroscope.cpp:121</div></div>
<div class="ttc" id="aclasscalico_1_1sensors_1_1Sensor_html"><div class="ttname"><a href="classcalico_1_1sensors_1_1Sensor.html">calico::sensors::Sensor</a></div><div class="ttdef"><b>Definition:</b> sensor_base.h:22</div></div>
<div class="ttc" id="anamespacecalico_1_1sensors_html"><div class="ttname"><a href="namespacecalico_1_1sensors.html">calico::sensors</a></div><div class="ttdoc">Sensors namespace.</div><div class="ttdef"><b>Definition:</b> accelerometer.cpp:8</div></div>
<div class="ttc" id="anamespacecalico_1_1sensors_html_a3a17fd4af1cc53c28ec7130fdad5f22d"><div class="ttname"><a href="namespacecalico_1_1sensors.html#a3a17fd4af1cc53c28ec7130fdad5f22d">calico::sensors::GyroscopeIntrinsicsModel</a></div><div class="ttdeci">GyroscopeIntrinsicsModel</div><div class="ttdoc">Gyroscope model types.</div><div class="ttdef"><b>Definition:</b> gyroscope_models.h:16</div></div>
<div class="ttc" id="anamespacecalico_1_1utils_html_aacede3df540b75d2e131f113380f0ce9"><div class="ttname"><a href="namespacecalico_1_1utils.html#aacede3df540b75d2e131f113380f0ce9">calico::utils::LossFunctionType</a></div><div class="ttdeci">LossFunctionType</div><div class="ttdef"><b>Definition:</b> optimization_utils.h:15</div></div>
<div class="ttc" id="astructcalico_1_1sensors_1_1GyroscopeMeasurement_html"><div class="ttname"><a href="structcalico_1_1sensors_1_1GyroscopeMeasurement.html">calico::sensors::GyroscopeMeasurement</a></div><div class="ttdoc">Gyroscope measurement type.</div><div class="ttdef"><b>Definition:</b> gyroscope.h:41</div></div>
<div class="ttc" id="astructcalico_1_1sensors_1_1GyroscopeMeasurement_html_a0749af3895870c5350e44b4e11b357a6"><div class="ttname"><a href="structcalico_1_1sensors_1_1GyroscopeMeasurement.html#a0749af3895870c5350e44b4e11b357a6">calico::sensors::GyroscopeMeasurement::id</a></div><div class="ttdeci">GyroscopeObservationId id</div><div class="ttdoc">Id of this observation.</div><div class="ttdef"><b>Definition:</b> gyroscope.h:45</div></div>
<div class="ttc" id="astructcalico_1_1sensors_1_1GyroscopeMeasurement_html_a3483c6c9621ab18676803b22303e3d5f"><div class="ttname"><a href="structcalico_1_1sensors_1_1GyroscopeMeasurement.html#a3483c6c9621ab18676803b22303e3d5f">calico::sensors::GyroscopeMeasurement::measurement</a></div><div class="ttdeci">Eigen::Vector3d measurement</div><div class="ttdoc">Raw uncalibrated measurement value from a gyroscope.</div><div class="ttdef"><b>Definition:</b> gyroscope.h:43</div></div>
<div class="ttc" id="astructcalico_1_1sensors_1_1GyroscopeObservationId_html"><div class="ttname"><a href="structcalico_1_1sensors_1_1GyroscopeObservationId.html">calico::sensors::GyroscopeObservationId</a></div><div class="ttdef"><b>Definition:</b> gyroscope.h:23</div></div>
<div class="ttc" id="astructcalico_1_1sensors_1_1GyroscopeObservationId_html_a1e84f6ea65541adaba76ef089a1507ba"><div class="ttname"><a href="structcalico_1_1sensors_1_1GyroscopeObservationId.html#a1e84f6ea65541adaba76ef089a1507ba">calico::sensors::GyroscopeObservationId::stamp</a></div><div class="ttdeci">double stamp</div><div class="ttdoc">Timestamp in seconds.</div><div class="ttdef"><b>Definition:</b> gyroscope.h:25</div></div>
<div class="ttc" id="astructcalico_1_1sensors_1_1GyroscopeObservationId_html_a94e90d11f2267330fbe8d9710c9b2484"><div class="ttname"><a href="structcalico_1_1sensors_1_1GyroscopeObservationId.html#a94e90d11f2267330fbe8d9710c9b2484">calico::sensors::GyroscopeObservationId::sequence</a></div><div class="ttdeci">int sequence</div><div class="ttdoc">Sequence number of this measurement.</div><div class="ttdef"><b>Definition:</b> gyroscope.h:27</div></div>
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